A-109
Appendices
NJ-series CPU Unit Software User’s Manual (W501)
A-9 Enable/Disable EtherCAT Slaves and Axes
App
A-9-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes
In the Sysmac Studio project, an EtherCAT Slave Configuration is created for all four EtherCAT slaves
and axes in A, B, C, and D in the figure. Then, on the Sysmac Studio, you set the EtherCAT slave
enable/disable settings, Axis Use parameter settings, and the associated program run/stop status at the
start of operation according to machine 1, as shown in the following table.
To make changes for machine 2, you use instructions to change the EtherCAT slave enable/disable settings, Axis
Use parameter settings, and the associated program enable/disable settings as shown in the following table.
The user program algorithm is shown in the following figure. A signal is input to the Controller from an
external device to specify whether machine 1 or machine 2 is operated.
In the following figure, production line 1 is left running while the EtherCAT slaves and axis composition
on production line 2 are changed.
EtherCAT
slave
Installed in
EtherCAT network
Enable/disable
setting
Axis Use
parameter setting
Associated programs
A, B, and C Installed. Enabled. Used Axis Run at the start of opera-
tion.
D Not installed. Disabled. Unused Axis Stop at the start of opera-
tion.
EtherCAT
slave
Installed in
EtherCAT network
Enable/disable
setting
Axis Use
parameter setting
Associated programs
A, B, and C Installed. Enabled. Used Axis Executed.
D Installed. Enabled. Used Axis Executed.
Application 2: Changing the EtherCAT Slave Configuration and Axis
Composition during Operation
Machine 1?
No
Operation started.
Ye s
External signal input.
The EC_ChangeEnableSetting instruction is executed to enable
the slave for node D and the MC_ChangeAxisUse instruction is
executed to change the axis for node D to a used axis.
The program associated with node D is executed by the
PrgStart instruction.
EtherCAT slaves, axes
EtherCAT
Production line 1
Production line 2
CPU
Unit
CPU
Unit
AB
EtherCAT slaves, axes
CDE
EtherCAT slaves, axes
EtherCAT
Production line 1
Production line 2
AB
EtherCAT slaves, axes
FG
Production line 1 is left running
while the EtherCAT slaves and
axis composition on production
line 2 are changed.
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